Keep practicing and you will definitely get more lucids!
As MasterMind said, WBTB is good for lucid dreaming since one is usually more aware when going back to bed like that, so you can try that if you have time, also you can try doing naps, which help with awareness as well because of going quickly or even almost directly into REM.
As for MILD, there's not really anything so specific to it to call it 'types', you just need to set intention and the right mindset to have lucid dream and fall asleep with it, whether mantra, visualization or something else works the best varies from person to person, so experiment!